CN111959468B - Rail vehicle electromechanical braking force control method - Google Patents
Rail vehicle electromechanical braking force control method Download PDFInfo
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- CN111959468B CN111959468B CN202010843976.0A CN202010843976A CN111959468B CN 111959468 B CN111959468 B CN 111959468B CN 202010843976 A CN202010843976 A CN 202010843976A CN 111959468 B CN111959468 B CN 111959468B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
- B60T8/1705—Braking or traction control means specially adapted for particular types of vehicles for rail vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61H—BRAKES OR OTHER RETARDING DEVICES SPECIALLY ADAPTED FOR RAIL VEHICLES; ARRANGEMENT OR DISPOSITION THEREOF IN RAIL VEHICLES
- B61H11/00—Applications or arrangements of braking or retarding apparatus not otherwise provided for; Combinations of apparatus of different kinds or types
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61H—BRAKES OR OTHER RETARDING DEVICES SPECIALLY ADAPTED FOR RAIL VEHICLES; ARRANGEMENT OR DISPOSITION THEREOF IN RAIL VEHICLES
- B61H13/00—Actuating rail vehicle brakes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Abstract
The invention relates to a rail vehicle electromechanical braking force control method, wherein an electromechanical braking system replaces an air braking system, valve related components and an air supply system in a braking control device are omitted, the structure of the braking control system is simplified, fault points are reduced, the fault rate is reduced, and the weight of the components of the braking system is reduced; the response time of friction braking force is shortened, and the braking performance is improved; the shaft control and wheel control of friction braking force under normal braking, the mixed control of electromechanical braking and electric braking and the closed-loop control of friction braking push-out force/clamping force are realized, the high-precision braking force control, the real-time abrasion detection of a brake shoe or brake pad, the abrasion control of a basic braking friction part and the like are realized, and the maintenance of a vehicle is facilitated; and the wheel rail adhesion coefficient can be adaptively adjusted according to the actual wheel rail adhesion condition of the vehicle.
Description
Technical Field
The invention relates to the technical field of vehicle braking, in particular to an electromechanical braking force control method of a railway vehicle.
Background
At present, a vehicle braking system mostly adopts an air-electric composite braking control mode, namely electric braking is preferentially used, and if the electric braking force is insufficient, the air braking force is supplemented. The air brake mainly comprises a brake control system, a basic brake system and an air supply system, wherein a core device of the brake control system is a brake control device, and the brake control device is integrated with an electronic brake control unit, an electric-air conversion valve (converting an electric signal into an air signal), a relay valve (a flow amplifying valve), an empty and heavy vehicle regulating valve (for emergency braking) and the like. The air supply system consists of an air compressor, a dryer, an air cylinder, a total air pipe penetrating the whole vehicle, a plug door and the like, and provides compressed air for the braking system. The basic braking system consists of a braking cylinder, a brake shoe or a braking disc and the like, and receives the pressure air to implement corresponding braking force.
The current electric air brake system can be divided into a vehicle control mode and a frame control mode, and the air brake force is axially controlled only when the axle sliding is detected.
Electric braking and air braking are limited by the adhesion coefficient between the wheel rails of a vehicle, wheels slide on the rails when the braking force exceeds the adhesion force between the wheel rails, and the wheels can be locked to cause wheel surface abrasion when the sliding is serious, so that the braking distance is ensured and the sliding is avoided when the vehicle brakes.
The existing brake control system is relatively complex in composition and structure, more in components, increased in fault points and fault probability, and unfavorable for system integration.
Based on the structure and the characteristics of the air brake system, the response time of the air brake is relatively longer, and the control precision of the braking force is relatively lower.
Disclosure of Invention
The technical problem to be solved by the invention is to overcome the defects in the prior art and provide a method for controlling the electromechanical braking force of a railway vehicle.
In order to solve the technical problems, the invention provides a method for controlling electromechanical braking force of a railway vehicle, which is realized based on an electromechanical braking system, wherein the electromechanical braking system comprises:
the signal transmission unit is used for transmitting a braking instruction signal to the communication and main control module of the braking control unit through a data bus or a hard wire, and the communication and main control modules of all vehicles perform signal interaction through the signal transmission unit;
the traction control unit is arranged on the motor car and used for adjusting the electric braking force according to the electric braking force command information received from the data bus or the hard wire or adjusting the electric braking force according to the received braking command signal, the vehicle load signal and the speed condition of the motor car axle;
the system comprises a brake control unit, a traction control unit, a signal transmission unit, a communication and main control module and an electromechanical driving unit module, wherein each vehicle is provided with at least one brake control unit, the communication and main control module comprises a communication and main control module communicated with the traction control unit and the signal transmission unit, and the electromechanical driving unit module is controlled by the communication and main control module, the communication and main control module controls an electromechanical braking unit to apply electromechanical braking force through the electromechanical driving unit module, and closed-loop control of the electromechanical braking force is realized according to the braking force fed back by the electromechanical braking unit, so that accurate control of friction braking force is realized; the braking control unit calculates electromechanical braking force and judges sliding through the received braking command signal, the vehicle load signal and the shaft speed signal acquired from the speed sensor; or receiving the electromechanical brake-related signal through the signal transmission unit;
the electromechanical braking unit is arranged at each wheel tread or each wheel disc or each shaft disc, is controlled by the electromechanical driving unit module to apply braking force to the wheel tread or the wheel disc or the shaft disc, and feeds back the actually output braking force to the braking control unit;
the speed sensor is used for collecting a shaft speed signal of the shaft and feeding the shaft speed signal back to the brake control unit
The braking force control method is as follows: one brake control unit in N vehicles is selected as a brake force management unit, and the brake force management unit calculates the brake force required by the vehicles in the brake force management unit through the received brake instruction signals, the vehicle load signals and the speed signals acquired from the speed sensor or the signal transmission unit, wherein the brake force management unit is divided into the following two cases:
(1) When the calculated required braking force is smaller than or equal to the sum of the electric braking forces of all the available traction control units in the braking force management unit, preferentially using the electric braking force:
when all traction control units in the braking force management unit are normal, the required braking force is equally divided to all traction control units, and the electric braking force of the bicycle is limited not to exceed the adhesion limit value of the wheel rail; when the traction control unit is abnormal, the required braking force applies equally to the normal traction control unit, and the electric braking force of the bicycle is limited not to exceed the adhesion limit value of the wheel rail;
each traction control unit feeds back the actually applied electric braking force to the braking force management unit;
if the sum of the fed-back electric braking forces is larger than or equal to the braking force required by the braking force management unit, the electric mechanical braking force is not supplemented, otherwise, the braking force management unit averagely distributes the electric mechanical braking force to each braking control unit to supplement the required braking force, and the bicycle or single-axle braking force is limited not to exceed the wheel track adhesion limit value; when the single-vehicle or single-axle braking force exceeds the wheel track adhesion limit value, the electromechanical braking force of other vehicles which do not exceed the wheel track adhesion limit value is complemented;
(2) When the calculated required braking force is larger than the sum of the electric braking forces of all available traction control units in the braking force management unit, the electric braking force is preferentially used, the electric braking force deficiency part is complemented by the average distribution mechanical braking force of the braking control units of all vehicles in the braking force management unit, and the single-vehicle or single-shaft braking force is limited not to exceed the wheel track adhesion limit value:
the braking force management unit applies the maximum electric braking force to all traction control units in the unit and limits the electric braking force of the bicycle not to exceed the adhesion limit value of the wheel rail;
each traction control unit feeds back the actually applied electric braking force to the braking force management unit;
if the sum of the fed-back electric braking forces is larger than or equal to the braking force required by the braking force management unit, the electric mechanical braking force is not supplemented, otherwise, the braking force management unit averagely distributes the electric mechanical braking force to each braking control unit to supplement the required braking force, and the bicycle or single-axle braking force is limited not to exceed the wheel track adhesion limit value; when the bicycle braking force exceeds the wheel track adhesion limit value, the electric mechanical braking force of other vehicles which do not exceed the wheel track adhesion limit value is complemented.
The invention provides a method for controlling electromechanical braking force of a railway vehicle, wherein an electromechanical braking system replaces an air braking system. Electromechanical braking system is relative to original air braking system: the valve related components in the brake control device are omitted, an air supply system is omitted, the structure of the brake control system is simplified, fault points are reduced, the fault rate is reduced, and the weight of the components of the brake system is reduced; the response time of friction braking force is shortened, and the braking performance is improved; the shaft control and wheel control of friction braking force under normal braking, the mixed control of electromechanical braking and electric braking and the closed-loop control of friction braking push-out force/clamping force are realized, the high-precision braking force control, the real-time abrasion detection of a brake shoe or brake pad, the abrasion control of a basic braking friction part and the like are realized, and the maintenance of a vehicle is facilitated; and the wheel rail adhesion coefficient can be adaptively adjusted according to the actual wheel rail adhesion condition of the vehicle.
Drawings
FIG. 1 is a system block diagram of an electromechanical braking system of the present invention.
Description of the embodiments
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
The electric braking force control method of the electric mechanical braking of the railway vehicle is realized based on the electric mechanical braking system shown in fig. 1, and the electric mechanical braking system comprises: the system comprises a signal transmission unit D, a traction control unit A, a brake control unit B, a foundation brake unit C and a standby power supply E, wherein the brake control unit B comprises a communication and main control module 1 and an electromechanical driving unit module 2, and the foundation brake unit C comprises an electromechanical brake unit 3 and a speed sensor 4.
The signal transmission unit D transmits a brake command signal to the communication and main control module 1 of the brake control unit B through a data bus or a hard wire, and the communication and main control modules 1 of the vehicles perform signal interaction through the signal transmission unit D. The electromechanical drive unit module 2 outputs a current or voltage or PWM signal to control the electromechanical brake unit 3.
The traction control unit A is arranged on the motor car, and adjusts the electric braking force according to the electric braking force command information received from a data bus or a hard wire, or adjusts the electric braking force according to the received braking command signal, the vehicle load signal and the speed condition of the motor car axle.
Each vehicle of the brake control unit B is provided with at least one, and comprises a communication and main control module 1 which is communicated with the traction control unit A and the signal transmission unit D, and an electromechanical driving unit module 2 which is controlled by the communication and main control module 1, wherein the communication and main control module 1 controls the electromechanical braking unit 3 to apply electromechanical braking force through the electromechanical driving unit module 2, and realizes closed-loop control of the electromechanical braking force according to the braking force fed back by the electromechanical braking unit 3, so that the accurate control of friction braking force is realized; the braking control unit B calculates electromechanical braking force and judges sliding through the received braking command signal, the vehicle load signal and the shaft speed signal acquired from the speed sensor 4; or receives the electromechanical brake related signal through the signal transmission unit D. The brake control unit B realizes real-time abrasion detection, fault diagnosis or early warning through detecting the gap between the electromechanical brake unit 3 and a brake shoe or brake pad. The brake control unit B adaptively adjusts the wheel rail adhesion coefficient according to the actual wheel rail adhesion condition of the vehicle, and realizes the equal abrasion control of the basic brake friction parts of each vehicle according to the dynamic wheel rail adhesion condition.
The electromechanical braking unit 3 is disposed on each wheel tread or each wheel disc or each axle disc, and is controlled by the electromechanical driving unit module 2 to apply braking force to the wheel tread or the wheel disc or the axle disc, and to feed back the actually output braking force to the braking control unit B.
The speed sensor 4 is used for acquiring a shaft speed signal of the shaft and feeding the signal back to the brake control unit B.
In order to ensure that the brake control unit can be operated anyway in the de-energized state of the train, the electromechanical brake system is also provided with a backup power supply E for supplying the brake control unit B.
The braking force control method based on the electromechanical braking system comprises the following steps: one brake control unit B is selected as a brake force management unit, and the brake force management unit calculates the brake force required by the vehicle in the brake force management unit by the received brake command signal, the vehicle load signal and the speed signal acquired from the speed sensor 4 or the signal transmission unit D, and the brake force management unit is divided into the following two cases:
(1) When the calculated required braking force is smaller than or equal to the sum of the electric braking forces of all the available traction control units A in the braking force management unit, preferentially using the electric braking force:
when all traction control units A in the braking force management unit are normal, the required braking force is equally divided to all traction control units A, and the electric braking force of a bicycle is limited not to exceed the adhesion limit value of the wheel rail; when the traction control unit A is abnormal, the required braking force applies equally to the normal traction control unit A, and the electric braking force of the bicycle is limited not to exceed the adhesion limit value of the wheel rail;
each traction control unit A feeds back the actually applied electric braking force to a braking force management unit;
if the sum of the fed-back electric braking forces is larger than or equal to the braking force required by the braking force management unit, the electric mechanical braking force is not supplemented, otherwise, the braking force management unit averagely distributes the electric mechanical braking force to each braking control unit B to supplement the required braking force, and the bicycle or single-axle braking force is limited not to exceed the wheel track adhesion limit value; when the single-vehicle or single-axle braking force exceeds the wheel track adhesion limit value, the electromechanical braking force of other vehicles which do not exceed the wheel track adhesion limit value is complemented;
(2) When the calculated required braking force is larger than the sum of the electric braking forces of all available traction control units A in the braking force management unit, the electric braking force is preferentially used, the electric braking force deficiency part is complemented by the average distribution mechanical braking force of the braking control units B of all vehicles in the braking force management unit, and the single vehicle or single-axle braking force is limited not to exceed the wheel track adhesion limit value:
the braking force management unit applies the maximum electric braking force to all traction control units A in the unit and limits the electric braking force of a bicycle not to exceed the adhesion limit value of the wheel rail;
each traction control unit A feeds back the actually applied electric braking force to a braking force management unit;
if the sum of the fed-back electric braking forces is larger than or equal to the braking force required by the braking force management unit, the electric mechanical braking force is not supplemented, otherwise, the braking force management unit averagely distributes the electric mechanical braking force to each braking control unit B to supplement the required braking force, and the bicycle or single-axle braking force is limited not to exceed the wheel track adhesion limit value; when the bicycle braking force exceeds the wheel track adhesion limit value, the electric mechanical braking force of other vehicles which do not exceed the wheel track adhesion limit value is complemented.
The electromechanical braking system has three electromechanical braking forces and electric braking force management modes, and correspondingly has three braking force management methods.
1. The electromechanical braking force and the electric braking force are collectively managed by the brake control unit B.
The braking force control method is as follows: the braking control unit B applies electric braking force or electromechanical braking force according to the set initial wheel track adhesion limit value, when the vehicle is detected to slide, the wheel track adhesion coefficient of the sliding shaft at the sliding time is calculated, the wheel track adhesion limit value is used as the wheel track adhesion limit value for controlling the braking force of the shaft, and after the sliding is recovered or the braking is released, the wheel track adhesion limit value of the shaft is recovered to the initial wheel track adhesion limit value.
2. The electromechanical braking force and the electric braking force are managed by a brake control unit B and a traction control unit a, respectively.
The braking force control method is as follows: selecting one brake control unit B in N vehicles as a brake force management unit, wherein the traction control unit A manages electric brake force, and the brake force management unit manages electromechanical brake force;
the traction control unit A calculates and applies the electric braking force of the vehicle according to the braking command signal, the vehicle load signal and the speed information and feeds back the actually applied electric braking force to the braking force management unit or each vehicle braking control unit B unit;
the braking force management unit calculates the electromechanical braking force required by each vehicle braking control unit B from the braking command signal, the vehicle load signal, the shaft speed signal acquired from the speed sensor 4, and the electric braking force fed back by the traction control unit a: if the sum of the fed-back electric braking forces is larger than or equal to the braking force required by the braking force management unit, the electric mechanical braking force is not supplemented, otherwise, the braking force management unit averagely distributes the electric mechanical braking force to each vehicle braking control unit B to supplement the required braking force, and the single-vehicle or single-axle braking force is limited not to exceed the wheel track adhesion limit value; when the single-vehicle or single-axle braking force exceeds the wheel track adhesion limit, the electric mechanical braking force of other vehicles which do not exceed the wheel track adhesion limit is complemented.
3. The signal transmission unit D calculates the electric braking force and the electromechanical braking force and sends the electric braking force and the electromechanical braking force to the traction control unit A and the braking control unit B respectively, and the traction control unit A implements the electric braking force and limits the electric braking force not to exceed the wheel track adhesion limit value; the electromechanical braking unit 3 is controlled by the braking control unit B through the electromechanical driving unit 2 to perform the electromechanical braking force, and the uniaxial electromechanical braking force is restricted from exceeding the uniaxial wheel-rail adhesion limit.
The braking force control method is as follows: selecting one signal transmission unit D in N vehicles as a braking force management unit to manage electric braking force and electromechanical braking force;
the braking force management unit calculates braking force required by the vehicle in the braking force management unit according to each vehicle loading signal, braking instruction and shaft speed signal, preferentially utilizes electric braking force according to each wheel rail adhesion limit value, and respectively sends the electric braking force and the electric mechanical braking force required to be applied to the traction control unit A and the braking control unit B;
the traction control unit A applies electric braking force according to the electric braking force value of the net braking force management unit and feeds back the actually applied electric braking force to the braking force management unit;
the brake control unit B controls the electromechanical brake unit 3 to apply an electromechanical brake force through the electromechanical drive unit 2 according to the electromechanical brake force value transmitted from the brake force management unit, and feeds back the actually applied electromechanical brake force to the brake force management unit.
In addition to the embodiments described above, other embodiments of the invention are possible. All technical schemes formed by equivalent substitution or equivalent transformation fall within the protection scope of the invention.
Claims (2)
1. A method for controlling electromechanical braking force of a railway vehicle is characterized in that: implemented based on an electromechanical braking system comprising:
the signal transmission unit (D) is used for transmitting a braking instruction signal to the communication and main control module (1) of the braking control unit (B) through a data bus or a hard wire, and the communication and main control modules (1) of all vehicles perform signal interaction through the signal transmission unit (D);
a traction control unit (A) which is arranged on the motor car and adjusts the electric braking force according to the electric braking force instruction information received from a data bus or a hard wire or adjusts the electric braking force according to the received braking instruction signal, a vehicle load signal and the speed condition of the motor car;
each vehicle is provided with at least one brake control unit (B), and comprises a communication and main control module (1) which is communicated with the traction control unit (A) and the signal transmission unit (D), and an electromechanical driving unit module (2) which is controlled by the communication and main control module (1), wherein the communication and main control module (1) controls the electromechanical braking unit (3) to apply electromechanical braking force through the electromechanical driving unit module (2), and realizes closed-loop control of the electromechanical braking force according to the braking force fed back by the electromechanical braking unit (3), so that the accurate control of friction braking force is realized; the braking control unit (B) calculates electromechanical braking force and judges sliding through the received braking command signal, the vehicle load signal and the shaft speed signal acquired from the speed sensor (4); or receiving the electromechanical brake related signal via a signal transmission unit (D);
an electromechanical braking unit (3) which is arranged on each wheel tread or each wheel disc or each axle disc, is controlled by the braking control unit (B) to apply braking force to the wheel tread or the wheel disc or the axle disc, and feeds back the actually output braking force to the braking control unit (B);
the speed sensor (4) is used for acquiring a shaft speed signal of the shaft and feeding the signal back to the brake control unit (B);
the braking force control method is as follows: calculating an electric braking force and an electric mechanical braking force by a signal transmission unit (D), and respectively transmitting the electric braking force and the electric mechanical braking force to a traction control unit (A) and a brake control unit (B), wherein the electric braking force is implemented by the traction control unit (A) and the electric braking force is limited not to exceed a wheel track adhesion limit value; controlling the electromechanical braking unit (3) to execute the electromechanical braking force by the braking control unit (B) through the electromechanical driving unit module (2) and limiting the uniaxial electromechanical braking force not to exceed the uniaxial wheel track adhesion limit; in particular, the method comprises the steps of,
selecting one signal transmission unit (D) in N vehicles as a braking force management unit to manage electric braking force and electromechanical braking force;
the braking force management unit calculates the braking force required by the vehicle in the braking force management unit according to each vehicle loading signal, braking instruction and shaft speed signal, preferentially utilizes the electric braking force according to each wheel rail adhesion limit value, and respectively sends the electric braking force and the electric mechanical braking force required to be applied to the traction control unit (A) and the braking control unit (B);
the traction control unit (A) applies an electric braking force according to the electric braking force value of the braking force management unit and feeds back the actually applied electric braking force to the braking force management unit;
the braking control unit (B) controls the electromechanical braking unit (3) to apply the electromechanical braking force through the electromechanical driving unit module (2) according to the electromechanical braking force value sent by the braking force management unit, and feeds back the actually applied electromechanical braking force to the braking force management unit.
2. The rail vehicle electromechanical braking force control method according to claim 1, characterized in that: and performing electric braking force control or/and electromechanical braking force control according to the set initial wheel rail adhesion limit value, calculating the wheel rail adhesion coefficient of the sliding shaft at the sliding moment when the vehicle is detected to slide, gradually correcting the wheel rail adhesion limit value of the sliding shaft braking force control according to the sliding state, and recovering the wheel rail adhesion limit value of the sliding shaft to the initial wheel rail adhesion limit value after the sliding is recovered or after the braking is released.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010843976.0A CN111959468B (en) | 2020-08-20 | 2020-08-20 | Rail vehicle electromechanical braking force control method |
| PCT/CN2021/104929 WO2022037298A1 (en) | 2020-08-20 | 2021-07-07 | Rail vehicle electromechanical braking system and rail vehicle electromechanical braking force control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010843976.0A CN111959468B (en) | 2020-08-20 | 2020-08-20 | Rail vehicle electromechanical braking force control method |
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| CN111959468A CN111959468A (en) | 2020-11-20 |
| CN111959468B true CN111959468B (en) | 2023-09-22 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2022037298A1 (en) * | 2020-08-20 | 2022-02-24 | 南京中车浦镇海泰制动设备有限公司 | Rail vehicle electromechanical braking system and rail vehicle electromechanical braking force control method |
| CN112829734A (en) * | 2021-02-03 | 2021-05-25 | 北京天佑新辔高新技术有限公司 | Electromechanical braking system |
| CN113044017B (en) * | 2021-03-02 | 2022-03-08 | 交控科技股份有限公司 | Shaft control braking method and system matched with permanent magnet synchronous traction system |
| CN114670897B (en) * | 2022-04-28 | 2023-11-17 | 中车青岛四方车辆研究所有限公司 | Traction braking fusion system and method based on two-stage control architecture |
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| CN107685722A (en) * | 2017-08-29 | 2018-02-13 | 南京中车浦镇海泰制动设备有限公司 | A kind of rail vehicle non-skid control system and its method |
| CN108437963A (en) * | 2017-09-06 | 2018-08-24 | 上海六辔机电科技有限公司 | A kind of microcomputer controlled electro mechanical braking system |
| CN109795518A (en) * | 2017-11-17 | 2019-05-24 | 中车唐山机车车辆有限公司 | A kind of track train braking control system and train |
| KR20200026660A (en) * | 2018-08-31 | 2020-03-11 | 한국철도기술연구원 | an electric mechanical brake system for a railway vehicle |
| CN111301375A (en) * | 2019-12-14 | 2020-06-19 | 中车大连电力牵引研发中心有限公司 | Braking force management system and method for railway vehicle |
| CN111038462A (en) * | 2020-01-02 | 2020-04-21 | 中车青岛四方机车车辆股份有限公司 | Brake control method and system for railway vehicle |
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